Aug 2026· 2026 IEEE International Conference on Mechatronics and Automation (ICMA)· pp. 669-674· 0 citations· 18 references
Abstract
Accurate sensorless external force estimation is crucial for physical human-robot interaction. To address the challenge that existing momentum-based sliding mode observers face in simultaneously achieving fast dynamic response and effective chattering suppression, this paper proposes a Kalman-weighted adaptive second-order sliding mode observer (HKW-SOSMO). This method utilizes the discrete Riccati equation to compute the joint posterior covariance in real time, employing it as a dynamic weight to modulate the sliding mode switching gain. The gain is adaptively amplified in regions with sudden friction changes, while it decreases in steady-state regions as the covariance contracts. Based on Lyapunov theory, this paper proves the finite-time convergence of this variable-gain system. Simulation results demonstrate that the proposed method effectively resolves the trade-off between dynamic response and chattering, thereby significantly enhancing estimation accuracy.
This paper presents a passivity-based sliding-mode controller-observer for a two-link lightweight robotic arm that accounts for structural flexibility and payload mass. The system’s dynamical model is obtained using the Euler-Lagrange formalism and the assumed modes method. The resulting mathematical model is highly no...
A. Belherazem, Mohamed della Krachai, Z. Bellahcene· Revue Roumaine des Sciences...· 0 citations
The proposed FAGT-SMC algorithm effectively balances robustness and control smoothness; therefore, numerical simulations demonstrate effectiveness for advanced robotic applications requiring both precision and adaptability in dynamic operating conditions.
Jianzhen Zhang, He-Lin Wang, Kun Wei· Processes· 1 citation
Industrial robotic manipulators are often affected by uncertain nonlinear dynamics and limited measurable information. This paper proposes a time-delay-estimation-assisted neural super-twisting sliding mode control framework for uncertain robotic manipulators. The time-delay estimation mechanism reconstructs hard-to-me...
Yu-Zhu Xiang, Wei-Wei Yi, Sheng Li et al.· IEEE Transactions on Industr...· 0 citations
An adaptive proximate fixed-time terminal sliding mode control (FTTSMC) based on time-delay estimation (TDE) based on time-delay estimation (TDE) is proposed to ensure high-precision trajectory tracking of robot manipulators subject to unknown dynamics and external disturbances.
Simulations on a 6-degree-of-freedom UR10 manipulator demonstrate that the proposed composite control strategy achieves high-precision tracking with small steady-state errors and smooth, chattering-free control torques, verifying its effectiveness and engineering applicability.
Xiaolei Ma, Cheng-Hu Jing, Kun Zhang et al.· Mechanical Sciences· 0 citations
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